OpenRaiser/Intern-Atlas huggingface dataset:
ConvBLS: An Effective and Efficient Incremental Convolutional Broad Learning System for Image Classification
Venue: arXiv cs.LG 2023
Year: 2023

Deep learning generally suffers from enormous computational resources and time-consuming training processes. Broad Learning System (BLS) and its convolutional variants have been proposed to mitigate these issues and have achieved superb performance in image classification. However, the existing convolutional-based broad learning system (C-BLS) either lacks an efficient training method and incremental learning capability or suffers from poor performance. To this end, we propose a convolutional broad learning system (ConvBLS) based on the spherical K-means (SKM) algorithm and two-stage multi-scale (TSMS) feature fusion, which consists of the convolutional feature (CF) layer, convolutional enhancement (CE) layer, TSMS feature fusion layer, and output layer. First, unlike the current C-BLS, the simple yet efficient SKM algorithm is utilized to learn the weights of CF layers. Compared with random filters, the SKM algorithm makes the CF layer learn more comprehensive spatial features. Second, similar to the vanilla BLS, CE layers are established to expand the feature space. Third, the TSMS feature fusion layer is proposed to extract more effective multi-scale features through the integration of CF layers and CE layers. Thanks to the above design and the pseudo-inverse calculation of the output layer weights, our proposed ConvBLS method is unprecedentedly efficient and effective. Finally, the corresponding incremental learning algorithms are presented for rapid remodeling if the model deems to expand. Experiments and comparisons demonstrate the superiority of our method.
Tracker: Model-based Reinforcement Learning for Tracking Control of Human Finger Attached with Thin McKibben Muscles
Venue: arXiv cs.RO 2023
Year: 2023

To adopt the soft hand exoskeleton to support activities of daily livings, it is necessary to control finger joints precisely with the exoskeleton. The problem of controlling joints to follow a given trajectory is called the tracking control problem. In this study, we focus on the tracking control problem of a human finger attached with thin McKibben muscles. To achieve precise control with thin McKibben muscles, there are two problems: one is the complex characteristics of the muscles, for example, non-linearity, hysteresis, uncertainties in the real world, and the other is the difficulty in accessing a precise model of the muscles and human fingers. To solve these problems, we adopted DreamerV2, which is a model-based reinforcement learning method, but the target trajectory cannot be generated by the learned model. Therefore, we propose Tracker, which is an extension of DreamerV2 for the tracking control problem. In the experiment, we showed that Tracker can achieve an approximately 81% smaller error than PID for the control of a two-link manipulator that imitates a part of human index finger from the metacarpal bone to the proximal bone. Tracker achieved the control of the third joint of the human index finger with a small error by being trained for approximately 60 minutes. In addition, it took approximately 15 minutes, which is less than the time required for the first training, to achieve almost the same accuracy by fine-tuning the policy pre-trained by the user's finger after taking off and attaching thin McKibben muscles again as the accuracy before taking off.
Hidden Layer Interaction: A Co-Creative Design Fiction for Generative Models
Venue: arXiv cs.HC 2023
Year: 2023

This paper presents a speculation on a fictive co-creation scenario that extends classical interaction patterns with generative models. While existing interfaces are restricted to the input and output layers, we suggest hidden layer interaction to extend the horizonal relation at play when co-creating with a generative model's design space. We speculate on applying feature visualization to manipulate neurons corresponding to features ranging from edges over textures to objects. By integrating visual representations of a neural network's hidden layers into co-creation, we aim to provide humans with a new means of interaction, contributing to a phenomenological account of the model's inner workings during generation.
CapsFlow: Optical Flow Estimation with Capsule Networks
Venue: arXiv cs.CV 2023
Year: 2023

We present a framework to use recently introduced Capsule Networks for solving the problem of Optical Flow, one of the fundamental computer vision tasks. Most of the existing state of the art deep architectures either uses a correlation oepration to match features from them. While correlation layer is sensitive to the choice of hyperparameters and does not put a prior on the underlying structure of the object, spatio temporal features will be limited by the network's receptive field. Also, we as humans look at moving objects as whole, something which cannot be encoded by correlation or spatio temporal features. Capsules, on the other hand, are specialized to model seperate entities and their pose as a continuous matrix. Thus, we show that a simpler linear operation over poses of the objects detected by the capsules in enough to model flow. We show reslts on a small toy dataset where we outperform FlowNetC and PWC-Net models.
Logic is Algebra
Venue: arXiv cs.LO 2023
Year: 2023

Logic really is just algebra, given one uses the right kind of algebra, and the right kind of logic. The right kind of algebra is abstraction algebra, and the right kind of logic is abstraction logic.
Automatic Authorship Attribution in the Work of Tirso de Molina
Venue: arXiv cs.CL 2023
Year: 2023

Automatic Authorship Attribution (AAA) is the result of applying tools and techniques from Digital Humanities to authorship attribution studies. Through a quantitative and statistical approach this discipline can draw further conclusions about renowned authorship issues which traditional critics have been dealing with for centuries, opening a new door to style comparison. The aim of this paper is to prove the potential of these tools and techniques by testing the authorship of five comedies traditionally attributed to Spanish playwright Tirso de Molina (1579-1648): La ninfa del cielo, El burlador de Sevilla, Tan largo me lo fiais, La mujer por fuerza and El condenado por desconfiado. To accomplish this purpose some experiments concerning clustering analysis by Stylo package from R and four distance measures are carried out on a corpus built with plays by Tirso, Andres de Claramonte (c. 1560-1626), Antonio Mira de Amescua (1577-1644) and Luis Velez de Guevara (1579-1644). The results obtained point to the denial of all the attributions to Tirso except for the case of La mujer por fuerza.
The communication complexity of functions with large outputs
Venue: arXiv cs.CC 2023
Year: 2023

We study the two-party communication complexity of functions with large outputs, and show that the communication complexity can greatly vary depending on what output model is considered. We study a variety of output models, ranging from the open model, in which an external observer can compute the outcome, to the XOR model, in which the outcome of the protocol should be the bitwise XOR of the players' local outputs. This model is inspired by XOR games, which are widely studied two-player quantum games. We focus on the question of error-reduction in these new output models. For functions of output size k, applying standard error reduction techniques in the XOR model would introduce an additional cost linear in k. We show that no dependency on k is necessary. Similarly, standard randomness removal techniques, incur a multiplicative cost of $2^k$ in the XOR model. We show how to reduce this factor to O(k). In addition, we prove analogous error reduction and randomness removal results in the other models, separate all models from each other, and show that some natural problems, including Set Intersection and Find the First Difference, separate the models when the Hamming weights of their inputs is bounded. Finally, we show how to use the rank lower bound technique for our weak output models.
Sketch-based Video Object Localization
Venue: arXiv cs.CV 2023
Year: 2023

We introduce Sketch-based Video Object Localization (SVOL), a new task aimed at localizing spatio-temporal object boxes in video queried by the input sketch. We first outline the challenges in the SVOL task and build the Sketch-Video Attention Network (SVANet) with the following design principles: (i) to consider temporal information of video and bridge the domain gap between sketch and video; (ii) to accurately identify and localize multiple objects simultaneously; (iii) to handle various styles of sketches; (iv) to be classification-free. In particular, SVANet is equipped with a Cross-modal Transformer that models the interaction between learnable object tokens, query sketch, and video through attention operations, and learns upon a per-frame set matching strategy that enables frame-wise prediction while utilizing global video context. We evaluate SVANet on a newly curated SVOL dataset. By design, SVANet successfully learns the mapping between the query sketches and video objects, achieving state-of-the-art results on the SVOL benchmark. We further confirm the effectiveness of SVANet via extensive ablation studies and visualizations. Lastly, we demonstrate its transfer capability on unseen datasets and novel categories, suggesting its high scalability in real-world applications.
Adversary-Aware Partial label learning with Label distillation
Venue: arXiv cs.LG 2023
Year: 2023

To ensure that the data collected from human subjects is entrusted with a secret, rival labels are introduced to conceal the information provided by the participants on purpose. The corresponding learning task can be formulated as a noisy partial-label learning problem. However, conventional partial-label learning (PLL) methods are still vulnerable to the high ratio of noisy partial labels, especially in a large labelling space. To learn a more robust model, we present Adversary-Aware Partial Label Learning and introduce the $\textit{rival}$, a set of noisy labels, to the collection of candidate labels for each instance. By introducing the rival label, the predictive distribution of PLL is factorised such that a handy predictive label is achieved with less uncertainty coming from the transition matrix, assuming the rival generation process is known. Nonetheless, the predictive accuracy is still insufficient to produce an sufficiently accurate positive sample set to leverage the clustering effect of the contrastive loss function. Moreover, the inclusion of rivals also brings an inconsistency issue for the classifier and risk function due to the intractability of the transition matrix. Consequently, an adversarial teacher within momentum (ATM) disambiguation algorithm is proposed to cope with the situation, allowing us to obtain a provably consistent classifier and risk function. In addition, our method has shown high resiliency to the choice of the label noise transition matrix. Extensive experiments demonstrate that our method achieves promising results on the CIFAR10, CIFAR100 and CUB200 datasets.
PK-Chat: Pointer Network Guided Knowledge Driven Generative Dialogue Model
Venue: arXiv cs.CL 2023
Year: 2023

In the research of end-to-end dialogue systems, using real-world knowledge to generate natural, fluent, and human-like utterances with correct answers is crucial. However, domain-specific conversational dialogue systems may be incoherent and introduce erroneous external information to answer questions due to the out-of-vocabulary issue or the wrong knowledge from the parameters of the neural network. In this work, we propose PK-Chat, a Pointer network guided Knowledge-driven generative dialogue model, incorporating a unified pretrained language model and a pointer network over knowledge graphs. The words generated by PK-Chat in the dialogue are derived from the prediction of word lists and the direct prediction of the external knowledge graph knowledge. Moreover, based on the PK-Chat, a dialogue system is built for academic scenarios in the case of geosciences. Finally, an academic dialogue benchmark is constructed to evaluate the quality of dialogue systems in academic scenarios and the source code is available online.
Reducing the Price of Stable Cable Stayed Bridges with CMA-ES
Venue: arXiv cs.NE 2023
Year: 2023

The design of cable-stayed bridges requires the determination of several design variables' values. Civil engineers usually perform this task by hand as an iteration of steps that stops when the engineer is happy with both the cost and maintaining the structural constraints of the solution. The problem's difficulty arises from the fact that changing a variable may affect other variables, meaning that they are not independent, suggesting that we are facing a deceptive landscape. In this work, we compare two approaches to a baseline solution: a Genetic Algorithm and a CMA-ES algorithm. There are two objectives when designing the bridges: minimizing the cost and maintaining the structural constraints in acceptable values to be considered safe. These are conflicting objectives, meaning that decreasing the cost often results in a bridge that is not structurally safe. The results suggest that CMA-ES is a better option for finding good solutions in the search space, beating the baseline with the same amount of evaluations, while the Genetic Algorithm could not. In concrete, the CMA-ES approach is able to design bridges that are cheaper and structurally safe.
Leveraging Predictive Models for Adaptive Sampling of Spatiotemporal Fluid Processes
Venue: arXiv cs.RO 2023
Year: 2023

Persistent monitoring of a spatiotemporal fluid process requires data sampling and predictive modeling of the process being monitored. In this paper we present PASST algorithm: Predictive-model based Adaptive Sampling of a Spatio-Temporal process. PASST is an adaptive robotic sampling algorithm that leverages predictive models to efficiently and persistently monitor a fluid process in a given region of interest. Our algorithm makes use of the predictions from a learned prediction model to plan a path for an autonomous vehicle to adaptively and efficiently survey the region of interest. In turn, the sampled data is used to obtain better predictions by giving an updated initial state to the predictive model. For predictive model, we use Knowledged-based Neural Ordinary Differential Equations to train models of fluid processes. These models are orders of magnitude smaller in size and run much faster than fluid data obtained from direct numerical simulations of the partial differential equations that describe the fluid processes or other comparable computational fluids models. For path planning, we use reinforcement learning based planning algorithms that use the field predictions as reward functions. We evaluate our adaptive sampling path planning algorithm on both numerically simulated fluid data and real-world nowcast ocean flow data to show that we can sample the spatiotemporal field in the given region of interest for long time horizons. We also evaluate PASST algorithm's generalization ability to sample from fluid processes that are not in the training repertoire of the learned models.
Joint Device Activity Detection, Channel Estimation and Signal Detection for Massive Grant-free Access via BiGAMP
Venue: arXiv cs.IT 2023
Year: 2023

Massive access has been challenging for the fifth generation (5G) and beyond since the abundance of devices causes communication overload to skyrocket. In an uplink massive access scenario, device traffic is sporadic in any given coherence time. Thus, channels across the antennas of each device exhibit correlation, which can be characterized by the row sparse channel matrix structure. In this work, we develop a bilinear generalized approximate message passing (BiGAMP) algorithm based on the row sparse channel matrix structure. This algorithm can jointly detect device activities, estimate channels, and detect signals in massive multiple-input multiple-output (MIMO) systems by alternating updates between channel matrices and signal matrices. The signal observation provides additional information for performance improvement compared to the existing algorithms. We further analyze state evolution (SE) to measure the performance of the proposed algorithm and characterize the convergence condition for SE. Moreover, we perform theoretical analysis on the error probability of device activity detection, the mean square error of channel estimation, and the symbol error rate of signal detection. The numerical results demonstrate the superiority of the proposed algorithm over the state-of-the-art methods in DADCE-SD, and the numerical results are relatively close to the theoretical analysis results.
Evaluating the Performance of Multi-Scan Integration for UAV LiDAR-based Tracking
Venue: arXiv cs.RO 2023
Year: 2023

Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such cluttered or GNSS-denied environments, remains a critical issue. Additionally, UAVs are being deployed as part of multi-robot systems, where tracking their position can be essential for relative state estimation. In this paper, we evaluate the performance of a multi-scan integration method for tracking UAVs in GNSS-denied environments using a solid-state LiDAR and a Kalman Filter (KF). We evaluate the algorithm's ability to track a UAV in a large open area at various distances and speeds. Our quantitative analysis shows that while "tracking by detection" using a constant velocity model is the only method that consistently tracks the target, integrating multiple scan frequencies using a KF achieves lower position errors and represents a viable option for tracking UAVs in similar scenarios.
Is Alice Really in Wonderland? UWB-Based Proof of Location for UAVs with Hyperledger Fabric Blockchain
Venue: arXiv cs.RO 2023
Year: 2023

Remote identification of Unmanned Aerial Vehicles (UAVs) is becoming increasingly important since more UAVs are being widely used for different needs in urban areas. For example, in the US and in the EU, identification and position broadcasting is already a requirement for the use of drones. However, the current solutions do not validate the position of the UAV but its identity, while trusting the given position. Therefore, a more advanced solution enabling the proof of location is needed to avoid spoofing. We propose the combination of a permissioned blockchain managed by public authorities together with UWB-based communication to approach this. Specifically, we leverage the identity management tools from Hyperledger Fabric, an open-source permissioned blockchain framework, and ultra-wideband (UWB) ranging, leading to situated communication (i.e., simultaneous communication and localization). This approach allows us to prove both the UAV identity and also the location it broadcasts through interaction with ground infrastructure in known locations. Our initial experiments show that the proposed approach is viable and UWB transceivers can be used for UAVs to validate both their identity and position with ground infrastructure deployed in known locations.
Musical creativity enabled by nonlinear oscillations of a bubble in water
Venue: arXiv cs.SD 2023
Year: 2023

Producing original and arranging existing musical outcomes is an art that takes years of learning and practice to master. Yet, despite the constant advances in the field of AI-powered musical creativity, production of quality musical outcomes remains a prerogative of the humans. Here we demonstrate that a single bubble in water can be used to produce creative musical outcomes, when it nonlinearly oscillates under an acoustic pressure signal that encodes a piece of classical music. The audio signal of the response of the bubble resembles an electric guitar version of the original composition. We suggest, and provide plausible theoretical supporting arguments, that this property of the bubble can be used to create physics-inspired AI systems capable of simulating human creativity in arrangement and composition of music.
A Hierarchical Multi-Vehicle Coordinated Motion Planning Method based on Interactive Spatio-Temporal Corridors
Venue: arXiv cs.RO 2023
Year: 2023

Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the high-dimensional conflicts and further reduce the difficulty of obtaining feasible trajectories. Therefore, this paper proposes a novel hierarchical method based on interactive spatio-temporal corridors (ISTCs). In the first layer, based on the initial guidance trajectories, Mixed Integer Quadratic Programming is designed to construct ISTCs capable of resolving conflicts in generic multi-vehicle scenarios. And then in the second layer, Non-Linear Programming is settled to generate in-corridor trajectories that satisfy the vehicle dynamics. By introducing ISTCs, the multi-vehicle coordinated motion planning problem is able to be decoupled into single-vehicle trajectory optimization problems, which greatly decentralizes the computational pressure and has great potential for real-world applications. Besides, the proposed method searches for feasible solutions in the 3-D $(x,y,t)$ configuration space, preserving more possibilities than the traditional velocity-path decoupling method. Simulated experiments in unsignalized intersection and challenging dense scenarios have been conduced to verify the feasibility and adaptability of the proposed framework.
Focalized Contrastive View-invariant Learning for Self-supervised Skeleton-based Action Recognition
Venue: arXiv cs.CV 2023
Year: 2023

Learning view-invariant representation is a key to improving feature discrimination power for skeleton-based action recognition. Existing approaches cannot effectively remove the impact of viewpoint due to the implicit view-dependent representations. In this work, we propose a self-supervised framework called Focalized Contrastive View-invariant Learning (FoCoViL), which significantly suppresses the view-specific information on the representation space where the viewpoints are coarsely aligned. By maximizing mutual information with an effective contrastive loss between multi-view sample pairs, FoCoViL associates actions with common view-invariant properties and simultaneously separates the dissimilar ones. We further propose an adaptive focalization method based on pairwise similarity to enhance contrastive learning for a clearer cluster boundary in the learned space. Different from many existing self-supervised representation learning work that rely heavily on supervised classifiers, FoCoViL performs well on both unsupervised and supervised classifiers with superior recognition performance. Extensive experiments also show that the proposed contrastive-based focalization generates a more discriminative latent representation.